Continuum robot

Abstract

To provide a continuum robot which has improved durability, comprises a linear member and materializes sooth movement of the linear member.SOLUTION: A continuum robot is provided, comprising; a curvable body (11) having a linear member (W) provided along a first pitch circle; and a motor (M) which has an output shaft (Ma) provided along a second pitch circle formed by offsetting the first pitch circle outside, drives the linear member (W) to curve the curvable body. The robot further comprises: an intermediate support shaft (21cs) which is provided along a third pitch circle formed by offsetting the first pitch circle outside and offsetting the second pitch circle inside; first connection members (21cb, 21ch) which connect a to-be-held portion (Wa) of an end portion of the linear member (W) and the intermediate support shaft (21cs); and a second connection member (21ct) which connects the intermediate support shaft (21cs) and the output shaft (Ma), converts rotation of the output shaft (Ma) into a linear movement, to thereby transfer the intermediate support shaft (21cs).SELECTED DRAWING: Figure 18

Description

[Technical Field]

[0001] The present invention relates to a continuum robot. [Background technology]

[0002] Patent Document 1 discloses a continuum robot that includes a bendable body having a drive wire and an actuator, and is configured to operate the bendable body by moving the drive wire backward and forward using the actuator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2020-518353 Summary of the Invention [Problem to be solved by the invention]

[0004] A continuous robot that drives and moves multiple wires arranged along a pitch circle requires multiple motors as drive sources for the wires. In this case, as described in Patent Document 1, in order to avoid interference between the motors, it is possible to arrange the motor shaft at a position offset radially outward from the pitch circle relative to the end of the wire, and connect the end of the wire to the motor shaft via a traction device (equivalent to the tractor in this application). However, in this configuration, if the distance between the end of the wire and the motor shaft is large, the moment applied to the tractor during driving will be large, which may increase wear between the motor shaft and the tractor, reduce durability, and hinder smooth movement of the wire. Furthermore, if the wire is guided so as to bend radially outward from the pitch circle in order to reduce the distance between the end of the wire and the motor shaft, frictional forces will be generated that hinder the movement of the wire during driving, which may result in a loss of driving force transmission to the wire and hinder smooth movement of the wire.

[0005] The present invention has been made in view of the above-mentioned points, and an object of the present invention is to provide a continuum robot that has improved durability and that realizes smooth movement of linear members. [Means for solving the problem]

[0006] The continuous body robot of the present invention is a continuous body robot comprising: a bendable body having a plurality of linear members arranged along a first pitch circle; and a plurality of motors each having a plurality of output shafts arranged along a second pitch circle that is offset outward from the first pitch circle and that drive each of the plurality of linear members to bend the bendable body, characterized in that the robot comprises: a plurality of intermediate support shafts arranged along a third pitch circle that is offset outward from the first pitch circle and offset inward from the second pitch circle; a plurality of first connecting members that connect the ends of the plurality of linear members to the plurality of intermediate support shafts; and a plurality of second connecting members that connect the plurality of intermediate support shafts to the plurality of output shafts, respectively, and that convert the rotation of the output shafts into linear motion to move the intermediate support shafts linearly. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a continuum robot that has improved durability and that realizes smooth movement of linear members. [Brief explanation of the drawings]

[0008] [Figure 1] This is an overview of the medical system. [Figure 2] FIG. 1 is a perspective view showing a medical device and a support base. [Figure 3] FIG. 1 is an explanatory diagram of a catheter. [Figure 4] FIG. 2 is an explanatory diagram of a catheter unit. [Figure 5] FIG. 2 is an explanatory diagram of a base unit and a wire driving unit. [Figure 6] 3 is an explanatory diagram of a wire driving unit, a connecting device, and a bending driving unit. FIG. [Figure 7] FIG. 10 is an explanatory diagram of the installation of the catheter unit. [Figure 8] FIG. 10 is a diagram illustrating the connection between the catheter unit and the base unit. [Figure 9] FIG. 10 is an exploded view illustrating the connection between the catheter unit and the base unit. [Figure 10] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 11] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 12] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 13] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 14] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 15] FIG. 2 is an explanatory diagram of a catheter unit and a base unit. [Figure 16] FIG. 2 is a diagram illustrating the operation of the operation unit. [Figure 17] 5A and 5B are cross-sectional views illustrating the operation of the operation unit. [Figure 18] FIG. 2 is a cross-sectional view illustrating the layout of a driving force transmission mechanism. [Figure 19] FIG. 2 is an enlarged cross-sectional view illustrating the layout of a driving force transmission mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the dimensions, materials, shapes, arrangements, etc. of the components described in the present embodiments may be changed as appropriate depending on the configuration of the device to which the present invention is applied, various conditions, etc. <Medical Systems and Devices> A medical system 1A and a medical device (continuum robot) 1 will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical system 1A. Figure 2 is a perspective view showing the medical device 1 and the support base 2. The medical system 1A includes a medical device 1, a support stand 2 on which the medical device 1 is attached, and a control device 3 that controls the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

[0010] The medical device 1 includes a catheter unit (bendable unit) 100 having a catheter 11 as a bendable body, and a base unit (drive unit, mounted unit) 200. The catheter unit 100 is configured to be detachable from the base unit 200. In this embodiment, a user of the medical system 1A and the medical device 1 can insert the catheter 11 into a subject to perform tasks such as observing the interior of the subject, collecting various specimens from the interior of the subject, and performing treatment on the interior of the subject. In one embodiment, the user can insert the catheter 11 into the interior of a patient. Specifically, by inserting the catheter 11 into the bronchi through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and resecting lung tissue can be performed. The catheter 11 can be used as a guide (sheath) for guiding a medical tool for performing the above-mentioned procedure. Examples of the medical tool include an endoscope, forceps, an ablation device, etc. The catheter 11 itself may also function as the above-mentioned medical tool.

[0011] In this embodiment, the control unit 3 includes a calculation unit 3a and an input unit 3b. The input unit 3b receives commands and inputs for operating the catheter 11. The calculation unit 3a includes a storage for storing programs and various data for controlling the catheter, a random access memory, and a central processing unit for executing the programs. The control unit 3 may also include an output unit for outputting signals for displaying images on the monitor 4.

[0012] 2, in this embodiment, the medical device 1 is electrically connected to the control unit 3 via a cable 5 that connects the base unit 200 of the medical device 1 to the support stand 2, and the support stand 2. The medical device 1 and the control unit 3 may be directly connected by a cable. Alternatively, the medical device 1 and the control unit 3 may be connected wirelessly.

[0013] The medical device 1 is removably mounted to the support base 2 via the base unit 200. More specifically, the medical device 1 is removably mounted by an attachment portion 200a of the base unit 200 to a moving stage (receiving portion) 2a of the support base 2. Even when the attachment portion 200a of the medical device 1 is detached from the moving stage 2a, the connection between the medical device 1 and the control unit 3 is maintained so that the medical device 1 can be controlled by the control unit 3. In this embodiment, even when the attachment portion 200a of the medical device 1 is detached from the moving stage 2a, the medical device 1 and the support base 2 are still connected by the cable 5.

[0014] The user can manually move the medical device 1 when it is removed from the support base 2 (when the medical device 1 is removed from the moving stage 2a) and insert the catheter 11 into the subject. A user can use the medical device 1 with the catheter 11 inserted into the subject and the medical device 1 attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the moving stage 2a moves, causing the medical device 1 to move. The catheter 11 then moves in the direction of inserting it into the subject, and in the direction of withdrawing it from the subject. The movement of the moving stage 2a is controlled by the control unit 3.

[0015] The medical device 1 includes a wire driving unit (linear member driving unit, line driving unit, main body driving unit) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robotic catheter device that drives the catheter 11 by the wire driving unit 300 controlled by the control unit 3.

[0016] The control device 3 controls the wire driving unit 300 to bend the catheter 11. In this embodiment, the wire driving unit 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire driving unit 300. In other words, the base unit 200 includes the wire driving unit 300. The wire driving unit 300 and the base unit 200 together can be called the catheter driving device (base device, main body).

[0017] The end where the tip of the catheter 11 inserted into the subject is located in the extension direction of the catheter 11 is called the distal end. The side opposite the distal end in the extension direction of the catheter 11 is called the proximal end. The catheter unit 100 has a proximal end cover 16 that covers the proximal end side of the catheter 11. The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

[0018] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical instrument to a desired position inside a subject. For example, with an endoscope inserted in the catheter 11, the catheter 11 is inserted to a target position inside the subject. At this time, at least one of manual operation by the user, movement of the moving stage 2a, and driving of the catheter 11 by the wire driving unit 300 is used. After the catheter 11 reaches the target position, the endoscope is pulled out of the catheter 11 through the tool hole 16a. Then, medical instruments are inserted through the tool hole 16a, and various specimens are collected from inside the subject, treatment is performed on the inside of the subject, and other operations are performed.

[0019] As will be described later, the catheter unit 100 is removably attached to a catheter driving device (base device, main body), more specifically, to a base unit 200. After the medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200 and attach a new catheter unit 100 to the base unit 200, and then use the medical device 1 again.

[0020] 2, the medical device 1 has an operation unit 400. In this embodiment, the operation unit 400 is provided in the catheter unit 100. The operation unit 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200.

[0021] <Catheter> A catheter 11 as a bendable body will be described with reference to Figure 3. Figure 3 is an explanatory diagram of the catheter 11. Figure 3(a) is a diagram illustrating the entire catheter 11. Figure 3(b) is an enlarged view of the catheter 11. The catheter 11 includes a bending section (bending body, catheter main body) 12 and a bending drive section (catheter drive section) 13 configured to bend the bending section 12. The bending drive section 13 is configured to bend the bending section 12 by receiving a driving force from a wire drive section 300 via a connecting device 21, which will be described later. The catheter 11 is extended along the insertion direction of the catheter 11 into the subject. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the bending section 12 and the extension directions (longitudinal directions) of the first to ninth driving wires (W11 to W33) described below.

[0022] The bending drive unit 13 includes a plurality of drive wires (drive lines, linear members, linear actuators) connected to the bending portion 12. Specifically, the bending drive unit 13 includes a first drive wire W11, a second drive wire W12, a third drive wire W13, a fourth drive wire W21, a fifth drive wire W22, a sixth drive wire W23, a seventh drive wire W31, an eighth drive wire W32, and a ninth drive wire W33.

[0023] Each of the first to ninth drive wires (W11 to W33) includes a holdable portion (holdable shaft, rod) Wa. Specifically, the first drive wire W11 includes a first holdable portion Wa11. The second drive wire W12 includes a second holdable portion Wa12. The third drive wire W13 includes a third holdable portion Wa13. The fourth drive wire W21 includes a fourth holdable portion Wa21. The fifth drive wire W22 includes a fifth holdable portion Wa22. The sixth drive wire W23 includes a sixth holdable portion Wa23. The seventh drive wire W31 includes a seventh holdable portion Wa31. The eighth drive wire W32 includes an eighth holdable portion Wa32. The ninth drive wire W33 includes a ninth holdable portion Wa33. In this embodiment, the first to ninth held portions (Wa11 to Wa33) have the same shape.

[0024] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Specifically, the first drive wire W11 includes a first wire body Wb11. The second drive wire W12 includes a second wire body Wb12. The third drive wire W13 includes a third wire body Wb13. The fourth drive wire W21 includes a fourth wire body Wb21. The fifth drive wire W22 includes a fifth wire body Wb22. The sixth drive wire W23 includes a sixth wire body Wb23. The seventh drive wire W31 includes a seventh wire body Wb31. The eighth drive wire W32 includes an eighth wire body Wb32. The ninth drive wire W33 includes a ninth wire body Wb33. In this example, the first to third wire bodies (Wb11 to Wb13) have the same shape. The fourth to sixth wire bodies (Wb21 to Wb23) have the same shape. The seventh to ninth wire bodies (Wb31 to Wb33) have the same shape. In this example, the first to ninth wire bodies (Wb11 to Wb33) have the same shape except for their lengths.

[0025] The first to ninth held portions (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at the proximal ends of the first to ninth wire bodies (Wb11 to Wb33). The first to ninth driving wires (W11 to W33) are inserted into the bending portion 12 via a wire guide 17 and fixed therein. In this embodiment, the first to ninth drive wires (W11 to W33) are each made of metal. However, the first to ninth drive wires (W11 to W33) may also be made of resin. The first to ninth drive wires (W11 to W33) may also be made of a material containing metal and resin. Any one of the first to ninth drive wires (W11 to W33) can be referred to as a drive wire W. In this embodiment, the first to ninth drive wires (W11 to W33) have the same shape except for the lengths of the first to ninth wire bodies (Wb11 to Wb33).

[0026] In this embodiment, the curved portion 12 is a flexible tubular member having a passage Ht for inserting a medical instrument. The wall surface of the bending section 12 is provided with a plurality of wire holes for passing through each of the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the bending section 12 is provided with a first wire hole Hw11, a second wire hole Hw12, a third wire hole Hw13, a fourth wire hole Hw21, a fifth wire hole Hw22, a sixth wire hole Hw23, a seventh wire hole Hw31, an eighth wire hole Hw32, and a ninth wire hole Hw33. Each of the first to ninth wire holes Hw (Hw11 to Hw33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11. Any one of the first to ninth wire holes (Hw11 to Hw33) can be referred to as a wire hole Hw. In this embodiment, the first to ninth wire holes (Hw11 to Hw33) have the same shape.

[0027] The bending portion 12 has an intermediate region 12a and a bending region 12b. The bending region 12b is located at the distal end of the bending portion 12, and a first guide ring J1, a second guide ring J2, and a third guide ring J3 are located in the bending region 12b. The bending region 12b refers to a region where the magnitude and direction of bending of the bending portion 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 using the bending drive unit 13. FIG. 3(b) omits a portion of the bending portion 12 that covers the first to third guide rings (J1 to J3). In this embodiment, the bending portion 12 includes a plurality of auxiliary rings (not shown). In the bending region 12b, a first guide ring J1, a second guide ring J2, and a third guide ring J3 are fixed to the wall surface of the bending portion 12. In this embodiment, the plurality of auxiliary rings are arranged proximal to the first guide ring J1, between the first guide ring J1 and the second guide ring J2, and between the second guide ring J2 and the third guide ring J3.

[0028] The medical instrument is guided to the tip of the catheter 11 by the passage Ht, the first to third guide rings (J1 to J3), and a plurality of auxiliary rings.

[0029] The first to ninth drive wires (W11 to W33) pass through the intermediate region 12a and are fixed to the first to third guide rings (J1 to J3), respectively. Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 pass through multiple auxiliary rings and are fixed to the first guide ring J1. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 pass through the first guide ring J1 and multiple auxiliary rings and are fixed to the second guide ring J2. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 pass through the first guide ring J1, the second guide ring J2, and multiple auxiliary rings and are fixed to the third guide ring J3.

[0030] The medical device 1 can bend the bending section 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive section 13 with the wire drive section 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the bending section 12, the bending region 12b of the bending section 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3). The user can insert the catheter 11 to a desired portion inside the subject by moving the medical device 1 manually or by using the moving stage 2a and / or by bending the bending portion 12.

[0031] In this embodiment, the first to third guide rings (J1 to J3) are moved by the first to ninth drive wires (W11 to W33) to bend the bending portion 12, but the present invention is not limited to this configuration. Any one or two of the first to third guide rings (J1 to J3) and the drive wires fixed thereto may be omitted. For example, the catheter 11 may be configured to omit the first to sixth drive wires (W11 to W23) and the first and second guide rings (J1 to J2) and have only the seventh to ninth drive wires (W31 to W33) and the third guide ring J3. Alternatively, the catheter 11 may be configured to omit the first to third drive wires (W11 to W13) and the first guide ring J1 and have only the fourth to ninth drive wires (W21 to W33) and the second and third guide rings (J2 to J3). Alternatively, catheter 11 may have a configuration in which one guide ring is driven by two drive wires. In this case, the number of guide rings may be one or more.

[0032] <Catheter unit> The catheter unit 100 will be described with reference to FIG. Figure 4 is an explanatory diagram of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 in a state where a wire cover 14 (described later) is in a covering position. Figure 4(b) is an explanatory diagram of the catheter unit 100 in a state where a wire cover 14 (described later) is in a retracted position. The catheter unit 100 includes a catheter 11 having a bending section 12 and a bending drive section 13, and a proximal end cover 16 that supports the proximal end of the catheter 11. The catheter unit 100 also includes a cover (wire cover) 14 that covers and protects first to ninth drive wires (W11 to W33) that serve as a plurality of drive wires.

[0033] The catheter unit 100 is attachable to and detachable from the base unit 200 along an attachment / detachment direction DE. The direction in which the catheter unit 100 is attached to the base unit 200 and the direction in which the catheter unit 100 is removed from the base unit 200 are parallel to the attachment / detachment direction DE. The proximal end cover (frame body, bending portion housing, catheter housing) 16 is a cover that covers a part of the catheter 11. The proximal end cover 16 has a tool hole 16a for inserting a medical instrument into the passage Ht of the bending portion 12.

[0034] The wire cover 14 is provided with a plurality of wire cover holes (cover holes) for passing through the first to ninth drive wires (W11 to W33). The wire cover 14 is provided with a first wire cover hole 14a11, a second wire cover hole 14a12, a third wire cover hole 14a13, a fourth wire cover hole 14a21, a fifth wire cover hole 14a22, a sixth wire cover hole 14a23, a seventh wire cover hole 14a31, an eighth wire cover hole 14a32, and a ninth wire cover hole 14a33. The first to ninth wire cover holes (14a11 to 14a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire cover hole 14a11. Any one of the first to ninth wire cover holes (14a11 to 14a33) can be referred to as wire cover hole 14a. In this embodiment, the first to ninth wire cover holes (14a11 to 14a33) have the same shape.

[0035] The wire cover 14 can be moved between a covering position (see FIG. 14(a)) where it covers the first to ninth drive wires (W11 to W33) and a retracted position (see FIG. 14(b)) where it is retracted from the covering position. The retracted position can also be called an exposing position where the first to ninth drive wires (W11 to W33) are exposed. The wire cover 14 is located in the cover position before the catheter unit 100 is attached to the base unit 200. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the cover position to the retracted position along the attachment / detachment direction DE.

[0036] In this embodiment, the wire cover 14 is moved from the cover position to the retracted position and then remains in the retracted position. Therefore, after the catheter unit 100 is attached to the base unit 200, the wire cover 14 remains in the retracted position even if the catheter unit 100 is removed from the base unit 200. However, the wire cover 14 may be configured to move from the covering position to the retracted position and then return to the covering position. For example, the catheter unit 100 may be provided with a biasing member that biases the wire cover 14 from the retracted position toward the covering position. In this case, after the catheter unit 100 is attached to the base unit 200, when the catheter unit 100 is removed from the base unit 200, the wire cover 14 is moved from the retracted position to the covering position. When the wire cover 14 is in the retracted position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude relative to the wire cover 14. As a result, connection between the bending drive portion 13 and a connecting device 21, which will be described later, is permitted. When the wire cover 14 is in the retracted position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude from the first to ninth wire cover holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth wire cover holes (14a11 to 14a33) in the attachment direction Da, which will be described later.

[0037] 4(b), the first to ninth drive wires (W11 to W33) are arranged along a circle (a virtual circle) having a predetermined radius. In the present application, this circle is called a pitch circle. In this embodiment, the catheter unit 100 has a key shaft (key, catheter side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 is engageable with a key receiving portion 22, which will be described later. By engaging the key shaft 15 with the key receiving portion 22, movement of the catheter unit 100 relative to the base unit 200 is limited within a predetermined range in the circumferential direction of a circle (imaginary circle) on which the first to ninth drive wires (W11 to W33) are arranged. In this embodiment, when viewed in the attachment / detachment direction DE, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15 so as to surround the key shaft 15. In other words, the key shaft 15 is arranged radially inside the circle (imaginary circle) on which the first to ninth drive wires (W11 to W33) are arranged.

[0038] In this embodiment, the catheter unit 100 includes an operating section 400. The operating section 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive section 13. The operating section 400 is rotatable around a rotation axis 400r. The rotation axis 400r of the operating section 400 extends in the attachment / detachment direction DE. With the catheter unit 100 attached to the base unit 200, the operation unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the operation unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire driving unit 300, and the connecting device 21, which will be described later.

[0039] <Base unit> The base unit 200 and the wire driving unit 300 will be described with reference to FIG. Fig. 5 is an explanatory diagram of the base unit 200 and the wire driving unit 300. Fig. 5(a) is a perspective view showing the internal structure of the base unit 200. Fig. 5(b) is a side view showing the internal structure of the base unit 200. Fig. 5(c) is a view of the base unit 200 as seen along the attachment / detachment direction DE.

[0040] As described above, the medical device 1 includes the base unit 200 and the wire driving unit 300. In this embodiment, the wire driving unit 300 is housed in the base housing 200f and provided inside the base unit 200. In other words, the base unit 200 includes the wire driving unit 300. The wire driving unit 300 has multiple driving sources (motors). In this embodiment, the wire driving unit 300 includes a first driving source M11, a second driving source M12, a third driving source M13, a fourth driving source M21, a fifth driving source M22, a sixth driving source M23, a seventh driving source M31, an eighth driving source M32, and a ninth driving source M33. Any one of the first to ninth driving sources (M11 to M33) can be referred to as driving source M. In this embodiment, the first to ninth driving sources (M11 to M33) each have the same configuration.

[0041] The base unit 200 includes a coupling device 21. The coupling device 21 is housed in a base housing 200f. The coupling device 21 is connected to the wire driving unit 300. The coupling device 21 has a plurality of coupling portions. In this embodiment, the coupling device 21 includes a first coupling portion 21c11, a second coupling portion 21c12, a third coupling portion 21c13, a fourth coupling portion 21c21, a fifth coupling portion 21c22, a sixth coupling portion 21c23, a seventh coupling portion 21c31, an eighth coupling portion 21c32, and a ninth coupling portion 21c33. Any one of the first to ninth connecting portions (21c11 to 21c33) can be called a connecting portion 21c. In this embodiment, the first to ninth connecting portions (21c11 to 21c33) have the same configuration.

[0042] Each of the multiple connecting portions is connected to a corresponding one of the multiple driving sources and driven by the corresponding one of the multiple driving sources. Specifically, the first connecting portion 21c11 is connected to and driven by the first driving source M11. The second connecting portion 21c12 is connected to and driven by the second driving source M12. The third connecting portion 21c13 is connected to and driven by the third driving source M13. The fourth connecting portion 21c21 is connected to and driven by the fourth driving source M21. The fifth connecting portion 21c22 is connected to and driven by the fifth driving source M22. The sixth connecting portion 21c23 is connected to and driven by the sixth driving source M23. The seventh connecting portion 21c31 is connected to and driven by a seventh driving source M31. The eighth connecting portion 21c32 is connected to and driven by an eighth driving source M32. The ninth connecting portion 21c33 is connected to and driven by a ninth driving source M33.

[0043] As will be described later, a bending drive unit 13 including first to ninth drive wires (W11 to W33) is connected to the connection device 21. The bending drive unit 13 receives the driving force of the wire drive unit 300 via the connection device 21 and bends the bending portion 12. The driving wire W is connected to the connecting portion 21c via the held portion Wa. Each of the plurality of driving wires is connected to each of the plurality of connecting portions. Specifically, the first holdable portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second holdable portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third holdable portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth holdable portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth holdable portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth holdable portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh holdable portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. An eighth held portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. A ninth held portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0044] The base unit 200 has a base frame 25. The base frame 25 is provided with a plurality of insertion holes for passing the first to ninth drive wires (W11 to W33). The base frame 25 is provided with a first insertion hole 25a11, a second insertion hole 25a12, a third insertion hole 25a13, a fourth insertion hole 25a21, a fifth insertion hole 25a22, a sixth insertion hole 25a23, a seventh insertion hole 25a31, an eighth insertion hole 25a32, and a ninth insertion hole 25a33. The first to ninth insertion holes (25a11 to 25a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11. Any one of the first to ninth insertion holes (25a11 to 25a33) can be referred to as an insertion hole 25a. In this embodiment, the first to ninth insertion holes (25a11 to 25a33) have the same shape.

[0045] The base frame 25 is provided with an attachment opening 25b into which the wire cover 14 is inserted. First to ninth insertion holes (25a11 to 25a33) are arranged at the bottom of the attachment opening 25b.

[0046] Furthermore, the base unit 200 includes a motor frame 200b, a first bearing frame 200c, a second bearing frame 200d, and a third bearing frame 200e.

[0047] The base frame 25 has a key receiving portion (key hole, base side key, main body side key) 22 that receives the key shaft 15. By engaging the key shaft 15 with the key receiving portion 22, the catheter unit 100 is attached to the base unit 200 in the correct phase. By engaging the key shaft 15 with the key receiving portion 22, the movement of the catheter unit 100 relative to the base unit 200 is limited within a predetermined range in the circumferential direction of the circle (imaginary circle) on which each of the first to ninth drive wires (W11 to W33) is arranged. As a result, the first to ninth drive wires (W11 to W33) are engaged with the corresponding first to ninth insertion holes (25a11 to 25a33) and the corresponding first to ninth connection portions (21c11 to 21c33), respectively. In other words, the drive wires W are prevented from engaging with the uncorresponding insertion holes 25 and the uncorresponding connection portions 21.

[0048] The user can correctly connect each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting portions (21c11 to 21c33) by engaging the key shaft 15 with the key receiving portion 22. Therefore, the user can easily attach the catheter unit 100 to the base unit 200. In this embodiment, the key shaft 15 has a protrusion that protrudes in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the protrusion is inserted. The position in the circumferential direction where the protrusion and the recess engage is the position where the drive wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c. The key shaft 15 may be disposed in either the base unit 200 or the catheter unit 100, and the key receiving portion 22 may be disposed in the other. For example, the key shaft 15 may be disposed on the base unit 200 side, and the key receiving portion 22 may be disposed on the catheter unit 100 side.

[0049] <Connection between motor and drive wire> The connection between the wire driving section 300, the connecting device 21, and the bending driving section 13 will be described with reference to FIG. 6A and 6B are explanatory diagrams of the wire driving unit 300, the connecting device 21, and the bending driving unit 13. Fig. 6A is a perspective view of the driving source M, the connecting unit 21c, and the driving wire W. Fig. 6B is an enlarged view of the connecting unit 21c and the driving wire W. Fig. 6C is a perspective view showing the connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13.

[0050] In this embodiment, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting portions (21c11 to 21c33) in the same configuration. Also, the first to ninth connecting portions (21c11 to 21c33) are connected to the first to ninth drive sources (M11 to M33) in the same configuration. Therefore, the following description will be given of the configuration in which one drive wire W, one connecting portion 21c, and one drive source M are connected.

[0051] As shown in Fig. 6(a), the driving source M has an output shaft Ma, which is a motor shaft, and a motor body Mb that rotates the output shaft Ma in a rotation direction Rm. A spiral groove is provided on the surface of the output shaft Ma. The output shaft Ma has a so-called screw shape. The motor body Mb is fixed to a motor frame 200b.

[0052] The connecting portion 21c has a tractor 21ct connected to the output shaft Ma and a tractor support shaft 21cs that supports the tractor 21ct. The tractor support shaft 21cs is connected to a connecting base 21cb. The connecting portion 21c has a leaf spring 21ch as a holding portion for holding the held portion Wa of the drive wire W. The drive wire W passes through an insertion hole 25a and engages with the connecting portion 21c. More specifically, the held portion Wa engages with the leaf spring 21ch. As will be described later, the leaf spring 21ch can be in a state where it clamps and fixes the held portion Wa (fixed state), or in a state where it releases the held portion Wa (released state).

[0053] 6(b), the pressing member 21cp has a gear portion 21cg that meshes with an internal gear 29 (described later) and a cam 21cc that serves as a pressing portion for pressing the leaf spring 21ch. As will be described later, the cam 21cc can move relative to the leaf spring 21ch. The movement of the cam 21cc switches the leaf spring 21ch between a fixed state and a released state.

[0054] The connecting portion 21c is supported by a first bearing B1, a second bearing B2, and a third bearing B3. The first bearing B1 is supported by a first bearing frame 200c of the base unit 200. The second bearing B2 is supported by a second bearing frame 200d of the base unit 200. The third bearing B3 is supported by a third bearing frame 200e of the base unit 200. Therefore, when the output shaft Ma rotates in the rotation direction Rm, the connecting portion 21c is restricted from rotating around the output shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for the first to ninth connecting portions (21c11 to 21c33), respectively.

[0055] Because the rotation of the connecting portion 21c around the output shaft Ma is restricted, when the output shaft Ma rotates, a force along the rotational axis direction of the output shaft Ma acts on the tractor 21ct due to the spiral groove of the output shaft Ma. As a result, the connecting portion 21c moves along the rotational axis direction of the output shaft Ma (direction Dc). The movement of the connecting portion 21c moves the drive wire W, and the bending portion 12 bends. In other words, the output shaft Ma and the tractor 21ct constitute a so-called feed screw that converts the rotational motion transmitted from the drive source M into linear motion using a screw. In this embodiment, the output shaft Ma and the tractor 21ct are slide screws, but they may also be ball screws.

[0056] As shown in FIG. 6(c), by attaching the catheter unit 100 to the base unit 200, the first to ninth driving wires (W11 to W33) are respectively connected to the first to ninth connecting portions (21c11 to 21c33).

[0057] The control unit 3 can independently control each of the first to ninth drive sources (M11 to M33). That is, any of the first to ninth drive sources (M11 to M33) can be independently operated or stopped, regardless of whether the other drive sources are stopped or not. In other words, the control unit 3 can independently control each of the first to ninth drive wires (W11 to W33). As a result, each of the first to third guide rings (J1 to J3) is independently controlled, and the bending region 12b of the bending portion 12 can be bent in any direction.

[0058] <Attaching the catheter unit> The operation of attaching the catheter unit 100 to the base unit 200 will be described with reference to FIG. Figure 7 is an explanatory diagram of the attachment of the catheter unit 100. Figure 7(a) is a diagram of the catheter unit 100 before it is attached to the base unit 200. Figure 7(b) is a diagram of the catheter unit 100 after it has been attached to the base unit 200.

[0059] In this embodiment, the attachment / detachment direction DE of the catheter unit 100 is the same as the direction of the rotation axis 400r of the operation section 400. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is called the attachment direction Da. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is removed from the base unit 200 (the opposite direction to the attachment direction Da) is called the removal direction Dd.

[0060] 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is located in the cover position. At this time, the wire cover 14 covers the first to ninth drive wires (W11 to W33) so that the first to ninth held portions (Wa11 to Wa33) do not protrude from the first to ninth wire cover holes (14a11 to 14a33) of the wire cover 14.

[0061] When the key shaft 15 and the key receiving portion 22 engage and the catheter unit 100 is moved in the attachment direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. Attaching the catheter unit 100 to the base unit 200 moves the wire cover 14 to the retracted position. In this embodiment, the wire cover 14 moves from the cover position to the retracted position by abutting against the base frame 25 (see FIG. 7(b)). More specifically, when the catheter unit 100 is attached, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, by moving the catheter unit 100 in the attachment direction Da, the wire cover 14 moves relative to the other parts of the catheter unit 100. As a result, the wire cover 14 moves from the covering position to the retracted position.

[0062] While the wire cover 14 moves from the cover position to the retracted position, the held portion Wa of the drive wire W protrudes from the wire cover hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the held portion Wa engages with the leaf spring 21ch of the connecting portion 21c (see FIG. 6(b)).

[0063] When the catheter unit 100 is simply attached to the base unit 200, it can be removed by moving the catheter unit 100 in the removal direction Dd relative to the base unit 200. Furthermore, as will be described later, when the catheter unit 100 is simply attached to the base unit 200, the drive wire W and the connecting portion 21c are released from their fixed state. With the catheter unit 100 attached to the base unit 200, operating the operation unit 400 prevents the catheter unit 100 from being removed from the base unit 200. Furthermore, with the catheter unit 100 attached to the base unit 200, operating the operation unit 400 fixes the bending drive unit 13 to the connecting device 21, and connects the bending drive unit 13 to the wire drive unit 300 via the connecting device 21.

[0064] <Fixing and releasing the bending drive unit> Using Figures 8, 9, 10, 11, 12, 13, and 14, we will explain the configuration for fixing the bending drive unit 13 to the connecting device 21 and the configuration for releasing the fixing of the bending drive unit 13 by the connecting device 21. Figure 8 is a diagram illustrating the connection between the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 taken along the rotation axis 400r. Figure 8(b) is a cross-sectional view of the base unit 200. Figure 8(b) is a cross-sectional view of the base unit 200 taken at the connecting portion 21c in a direction perpendicular to the rotation axis 400r. FIG. 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200. As shown in FIG. 10, 11, 12, 13, and 14 are diagrams illustrating the fixing of the driving wire W by the connecting portion 21c.

[0065] As shown in Figures 8(a) and 9, the base unit 200 has a joint (intermediate member, second transmission member) 28 and an internal gear 29 as a movable gear (interlocking gear, transmission member, first transmission member) that interlocks with the operating part 400 via the joint 28. The joint 28 has a plurality of transmitting portions 28c, and the internal gear 29 has a plurality of transmitted portions 29c. The plurality of transmitting portions 28c are engaged with a plurality of transmitting portions 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

[0066] When the catheter unit 100 is attached to the base unit 200, an engagement portion 400j provided on the operation portion 400 engages with a joint engagement portion 28j of the joint 28. When the operation portion 400 rotates, the rotation of the operation portion 400 is transmitted to the joint 28. The operation portion 400, the joint 28, and the internal gear 29 rotate in the same direction. The internal gear 29 has a plurality of teeth for switching between a state in which each of the first to ninth connecting portions (21c11 to 21c33) fixes each of the first to ninth driving wires (W11 to W33) and a state in which each of the first to ninth driving wires (W11 to W33) is released. Each of the plurality of teeth (action portion, switching gear portion) of the internal gear 29 engages with the gear portion 21cg of the pressing member 21cp of each of the first to ninth connecting portions (21c11 to 21c33).

[0067] Specifically, in this embodiment, the internal gear 29 includes a first tooth portion 29g11, a second tooth portion 29g12, a third tooth portion 29g13, a fourth tooth portion 29g21, a fifth tooth portion 29g22, a sixth tooth portion 29g23, a seventh tooth portion 29g31, an eighth tooth portion 29g32, and a ninth tooth portion 29g33. The first to ninth tooth portions (29g11 to 29g33) are formed with gaps between them. The first tooth portion 29g11 meshes with the gear portion 21cg of the first linking portion 21c11. The second tooth portion 29g12 meshes with the gear portion 21cg of the second linking portion 21c12. The third tooth portion 29g13 meshes with the gear portion 21cg of the third linking portion 21c13. The fourth tooth portion 29g21 meshes with the gear portion 21cg of the fourth linking portion 21c21. The fifth tooth portion 29g22 meshes with the gear portion 21cg of the fifth linking portion 21c22. The sixth tooth portion 29g23 meshes with the gear portion 21cg of the sixth linking portion 21c23. The seventh tooth portion 29g31 meshes with the gear portion 21cg of the seventh linking portion 21c31. The eighth tooth portion 29g32 meshes with the gear portion 21cg of the eighth connecting portion 21c32. The ninth tooth portion 29g33 meshes with the gear portion 21cg of the ninth connecting portion 21c33. Any one of the first to ninth tooth portions (29g11 to 29g33) can be referred to as tooth portion 29g. In this embodiment, the first to ninth tooth portions (29g11 to 29g33) have the same configuration.

[0068] In this embodiment, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting portions (21c11 to 21c33) in the same configuration. Also, the first to ninth connecting portions (21c11 to 21c33) are connected to the first to ninth tooth portions (29g11 to 29g33) in the same configuration. Therefore, the following description will be given of the configuration in which one drive wire W, one connecting portion 21c, and one tooth portion 29g are connected. In each of the first to ninth connecting portions (21c11 to 21c33), the gear portion 21cg is moved by the internal gear 29, whereby the pressing member 21cp rotates and the cam 21cc moves between the pressing position and a retracted position retracted from the pressing position.

[0069] The internal gear 29 rotates by rotating the operating portion 400. The rotation of the internal gear 29 causes the first to ninth connecting portions (21c11 to 21c33) to operate, respectively. The operating section 400 can move between a fixed position (locked position) and a detached position when the catheter unit 100 is attached to the base unit 200. As will be described later, the operating section 400 can also move to a released position when the catheter unit 100 is attached to the base unit 200. In terms of the rotation direction of the operating section 400, the released position is located between the fixed position and the detached position. The catheter unit 100 is attached to the base unit 200 when the operating section 400 is located at the detached position.

[0070] When the catheter unit 100 is attached to the base unit 200, the driving wire W is not fixed (locked) to the connecting portion 21c. This state is called the released state of the connecting portion 21c. Note that the state in which the driving wire W is fixed (locked) to the connecting portion 21c is called the locked state of the connecting portion 21c.

[0071] The operation of fixing the drive wire W to the connecting portion 21c will be described with reference to FIGS. After the catheter unit 100 is attached to the base unit 200 and before the operation section 400 is operated, the catheter unit 100 can be removed from the base unit 200. Hereinafter, the state in which the catheter unit 100 can be removed from the base unit 200 will be referred to as the removable state.

[0072] Fig. 10 is a diagram showing the state of the internal gear 29 and the connecting portion 21c in a detachable state. Fig. 10 is a diagram showing the internal gear 29 and the connecting portion 21c in a state where the operating portion 400 is positioned at the detachment position. The leaf spring 21ch of the connecting portion 21c has a fixed portion 21cha fixed to the connecting base 21cb and a pressed portion 21chb that abuts against the cam 21cc of the pressing member 21cp. The leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2. When the catheter unit 100 is attached to the base unit 200, the held portion Wa is inserted between the first portion 21chd1 and the second portion chd2. The cam 21cc has a holding surface 21cca and a pressing surface 21ccb. In the direction of the radius of rotation of the pressing member 21cp, the holding surface 21cca is located closer to the rotation center 21cpc of the pressing member 21cp than the pressing surface 21ccb.

[0073] 10, in the removable state (when the operating unit 400 is in the removable position), the leaf spring 21ch is held in a position where the pressed portion 21chb abuts against the holding surface 21cca. Also, the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg are stationary with a clearance La between them.

[0074] In terms of the rotation direction of the operating unit 400, the direction in which the operating unit 400 moves from the detached position toward the unlocked position and the locked position is called the locking direction (locking direction), and the direction in which the operating unit 400 moves from the locked position toward the unlocked position and the operating unit 400 toward the detached position is called the unlocking direction. The operating unit 400 rotates from the unlocked position in the unlocking direction to move to the detached position. The operating unit 400 rotates from the unlocked position in the locking direction to move to the locked position.

[0075] When the catheter unit 100 is attached to the base unit 200 and the operation section 400 is in the detached position, the connecting section 21c is in the released state, and the fixation of the drive wire W by the connecting section 21c is released. When connecting portion 21c is in the released state, cam 21cc is located in a retracted position retracted from a pressing position (described later). At this time, fixation of held portion Wa by leaf spring 21ch is released. The force with which first portion 21chd1 and second portion 21chd2 fasten held portion Wa when connecting portion 21c is in the released state is smaller than the force with which first portion 21chd1 and second portion 21chd2 fasten held portion Wa when connecting portion 21c is in the locked state. When the connecting portion 21c is in the released state, if the catheter unit is moved in the removal direction Dd relative to the base unit 200, the held portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2. When the connecting portion 21c is in the released state, it is preferable that the first portion 21chd1 and the second portion 21chd2 do not generate a force tightening the held portion Wa (the force is zero). When the connecting portion 21c is in the released state, it is preferable that a gap is generated between at least one of the first portion 21chd1 and the second portion 21chd2 and the held portion Wa.

[0076] Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the detached position. Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the released position. When the operating part 400 is rotated in the locking direction while it is in the removal position (FIG. 10), the internal gear 29 rotates clockwise, and the operating part 400 is then positioned in the release position. Even when the operating section 400 is rotated, the key shaft 15 and the key receiving section 22 are engaged, so the entire catheter unit 100 (excluding the operating section 400) is restricted from rotating relative to the base unit 200. In other words, the operating section 400 can rotate relative to the entire catheter unit 100 (excluding the operating section 400) and the base unit 200 when they are stationary.

[0077] As the internal gear 29 rotates clockwise, the clearance between the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg decreases from the clearance La to a clearance Lb. The tooth Zb2 of the gear portion 21cg is disposed at a position with a clearance Lz between it and the tooth tip circle (dotted line) of the tooth portion 29g of the internal gear 29. Therefore, the internal gear 29 can rotate without interfering with the tooth Zb2. Meanwhile, the connecting portion 21c is maintained in the same state (released state) as shown in FIG.

[0078] When the operating portion 400 is further rotated in the locking direction from the state shown in Fig. 11, the internal gear 29 further rotates clockwise. The state of the internal gear 29 and the connecting portion 21c at this time is shown in Fig. 12. FIG. 12 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the release position. 12, when the operating part 400 is rotated in the locking direction from the release position, the tooth Za1 of the internal gear 29 comes into contact with the tooth Zb1 of the gear part 21cg. Meanwhile, the connecting part 21c is in the same state as shown in FIGS. 10 and 11 and is maintained in the release state.

[0079] FIG. 13 is a diagram showing a state in which the pressing member 21cp is rotated as a result of the operation portion 400 being rotated in the locking direction. As shown in FIG. 13, when the operating portion 400 is further rotated in the locking direction from the state shown in FIG. 12, the internal gear 29 further rotates clockwise. 12 to the state shown in FIG. 13, the internal gear 29 rotates the gear portion 21cg clockwise. As the gear portion 21cg rotates, the holding surface 21cca moves away from the pressed portion 21chb, and the pressing surface 21ccb moves closer to the pressed portion 21chb. Then, the first portion 21chd1 and the second portion 21chd2 start to sandwich the held portion Wa.

[0080] Then, while the corner 21ccb1 arranged at the end of the pressing surface 21ccb presses the pressed portion 21chb, the tooth Za3 of the internal gear 29 moves to a position away from the tooth Zb3 of the gear portion 21cg. At this time, the held portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. When the tooth Za3 of the internal gear 29 separates from the tooth Zb3 of the gear portion 21cg, the transmission of the driving force from the internal gear 29 to the gear portion 21cg ends. At this time, the corner portion 21ccb1 of the cam 21cc receives a reaction force from the leaf spring 21ch. The reaction force of the leaf spring 21ch acting on the corner 21ccb1 in the direction of the rotation radius of the pressing member 21cp acts at a position away from the rotation center 21cpc of the pressing member 21cp, causing the pressing member 21cp to rotate clockwise. At this time, the pressing member 21cp rotates in the same direction as the direction in which it is rotated by the internal gear 29, which rotates clockwise.

[0081] FIG. 14 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the fixed position. As shown in FIG. 14, the pressing member 21cp rotates further from the state shown in FIG. 13 due to the reaction force of the leaf spring 21ch. 14, the pressing member 21cp stops in a state where the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch are in surface contact with each other. In other words, the pressing surface 21ccb and the surface of the pressed portion 21chb are aligned on the same plane. At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in a locked state, the cam portion 21cc of the pressing member 21cp is located at the pressing position, and the pressing surface 21ccb presses the pressed portion 21chb.

[0082] When the connecting portion 21c is in the locked state, the held portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. That is, the cam 21cc presses the leaf spring 21ch, and the held portion Wa is tightened by the leaf spring 21ch. As a result, the held portion Wa is fixed by the leaf spring 21ch.

[0083] In this embodiment, the first portion 21chd1 and the second portion 21chd2 of the leaf spring 21ch press the held portion Wa at positions spaced apart from each other. Furthermore, a bent portion 21chc connecting the first portion 21chd1 and the second portion 21chd2 is disposed between the first portion 21chd1 and the second portion 21chd2. The bent portion 21chc is disposed with a gap G between it and the held portion Wa. This allows the held portion Wa to be stably fixed by the first portion 21chd1 and the second portion 21chd2. The material of the leaf spring 21ch can be resin or metal, but it is preferable to use metal. When the connecting portion 21c is in the locked state, the held portion Wa is restricted from being pulled out from between the first portion 21chd1 and the second portion 21chd2. The tooth Za3 of the internal gear 29 and the tooth Zb4 of the gear portion 21cg are stopped at a position where a clearance Lc is generated between them.

[0084] When releasing the fixation between the drive wire W and the connecting portion 21c, the operating portion 400, which is located in the fixed position, is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Fig. 14. When the internal gear 29 rotates counterclockwise, the tooth Za3 of the internal gear 29 abuts against the tooth Zb4 of the gear portion 21cg, and the pressing member 21cp is rotated counterclockwise. By further rotating the internal gear 29 counterclockwise, the fixation of the drive wire W by the connecting portion 21c is released. The operations of the internal gear 29 and the pressing member 21cp at this time are the reverse of the operations described above. In other words, the fixation of the drive wire W by the connecting portion 21c is released by the operation reverse to the operation when the drive wire W is fixed by the connecting portion 21c described above.

[0085] The above operation is performed for each of the first to ninth connecting parts (21c11 to 21c33). That is, in the process of moving operation unit 400 from the detached position to the fixed position, the movement (rotation) of operation unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to change from the unlocked state to the locked state. In the process of moving operation unit 400 from the fixed position to the detached position, the movement (rotation) of operation unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to change from the locked state to the unlocked state.

[0086] The state in which the first to ninth drive wires (W11 to W33) are fixed by the first to ninth connecting portions (21c11 to 21c33), respectively, is called a first state. The state in which the first to ninth drive wires (W11 to W33) are released from the first to ninth connecting portions (21c11 to 21c33), respectively, is called a second state. The first state and the second state are switched in conjunction with the movement of the operating unit 400. That is, the first state and the second state are switched in conjunction with the movement of the operating unit 400 between the detached position and the fixed position.

[0087] The internal gear 29 is configured to interlock with the operating unit 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the operating unit 400 and the internal gear 29. The internal gear 29 and the joint 28 function as an interlocking unit that interlocks with the operating unit 400 so that the first state and the second state are switched in conjunction with the movement of the operating unit 400. Specifically, with the catheter unit 100 attached to the base unit 200, the internal gear 29 and the joint 28 move a part of the leaf spring 21ch (pressed portion 21chb) relative to the held portion Wa in conjunction with the movement of the operation portion 400. The movement of the pressed portion 21chb switches the connecting portion 21c between a locked state and an unlocked state. The internal gear 29 may be configured to be moved directly from the operating unit 400. In this case, the internal gear 29 functions as an interlocking unit.

[0088] <Moving the control panel> The movement of the operation unit 400 will be described with reference to FIGS. In this embodiment, the operation section 400 is configured to be movable between a detached position, a release position, and a fixed position when the catheter unit 100 is attached to the base unit 200. The release position is located between the detached position and the fixed position. In this embodiment, the operation unit 400 is switched between the first state and the second state in conjunction with the movement of the operation unit 400 between the release position and the fixed position. In this embodiment, the operation unit 400 can move between the detachment position and the fixed position by moving in a direction different from the attachment / detachment direction DE. The operation unit 400 moves between the detachment position and the fixed position by moving in a direction intersecting (preferably perpendicular to) the attachment / detachment direction DE. In this embodiment, the operation unit 400 moves between the detachment position and the fixed position by rotating around a rotation axis 400r extending in the attachment / detachment direction DE.

[0089] Figure 15 is an explanatory diagram of the catheter unit 100 and the base unit 200. Figure 15(a) is a cross-sectional view of the catheter unit 100. Figure 15(b) is a perspective view of the button 41. Figure 15(c) is a perspective view of the base unit 200. Figure 16 is a diagram illustrating the operation of the operating unit 400. Figure 16(a) is a diagram illustrating a state in which the operating unit 400 is in the detached position. Figure 16(b) is a diagram illustrating a state in which the operating unit 400 is in the released position. Figure 16(c) is a diagram illustrating a state in which the operating unit 400 is in the fixed position. Figure 17 is a cross-sectional view illustrating the operation of the operating unit 400. Figure 17(a) is a cross-sectional view showing the operating unit 400 in the detached position. Figure 17(b) is a cross-sectional view showing the operating unit 400 in the released position. Figure 17(c) is a cross-sectional view showing the operating unit 400 in the fixed position.

[0090] When the operation portion 400 is in the fixed position, the connection portion 21c is in a locked state, and the held portion Wa of the drive wire W is fixed to the corresponding connection portion 21c (see FIG. 14). When the operating unit 400 is in the released position, the connecting unit 21c is in the released state, and the lock between the held portion Wa of the driving wire W and the connecting unit 21c is released (see FIG. 11). In this state, the driving wire W is disconnected from the wire driving unit 300. Therefore, when the catheter 11 receives an external force, the bending section 12 can bend freely without receiving resistance from the wire driving unit 300.

[0091] When the operating section 400 is in the detachment position, the catheter unit 100 is allowed to be detached from the base unit 200. Furthermore, with the operating section 400 in the detachment position, the catheter unit 100 can be attached to the base unit 200. When the operating section 400 is in the detachment position, the connecting section 21c is in the released state, and the lock between the held section Wa of the drive wire W and the connecting section 21c is released (see FIG. 10). As shown in FIG. 15(a), the catheter unit 100 has an operation part biasing spring 43 that biases the operation part 400, a button 41 as a moving member, and a button spring 42 that biases the button 41.

[0092] In this embodiment, the operating portion biasing spring 43 is a compression spring. The operating portion 400 is biased by the operating portion biasing spring 43 in a direction Dh toward the proximal end cover 16. In this embodiment, the button 41 and the button spring 42 are provided on the operation unit 400. When the operation unit 400 moves to the detached position, the released position, or the fixed position, the button 41 and the button spring 42 move together with the operation unit 400. The button 41 is configured to be movable relative to the operating unit 400 in a direction intersecting the direction of the rotation axis 400r of the operating unit 400. The button 41 is biased by a button spring 42 toward the outside of the catheter unit 100 (in a direction away from the rotation axis 400r).

[0093] As will be described later, the button 41 restricts the operation unit 400 from moving from the release position to the detachment position. In addition, by moving the button 41 relative to the operation unit 400, the operation unit 400 is allowed to move from the release position to the detachment position. The button 41 has a button protrusion (regulated portion) 41a. The button protrusion 41a has a button inclined surface 41a1 and a regulated surface 41a2.

[0094] The base unit 200 includes a base frame 25. The base frame 25 includes a lock shaft 26. The lock shaft 26 includes a lock protrusion (restriction portion) 26a. In this embodiment, there are provided a plurality of (two in this embodiment) lock shafts 26. All of the lock shafts 26 may be provided with the lock protrusions 26a, or only some of the lock shafts 26 may be provided with the lock protrusions 26a.

[0095] 9, 16(a), 16(b), and 16(c), a lock groove 400a that engages with the lock shaft 26 is provided on the inside of the operating unit 400. The lock groove 400a extends in a direction different from the attachment / detachment direction DE. In this embodiment, it extends in the rotation direction of the operating unit 400. It can also be said that the lock groove 400a extends in a direction intersecting (perpendicular to) the attachment / detachment direction DE. When a plurality of lock shafts 26 are provided, the lock groove 400a is provided for each of the plurality of lock shafts 26.

[0096] As shown in FIG. 16(a), when the catheter unit 100 is attached to the base unit 200, the lock shaft 26 engages with the lock groove 400a through the entrance 400a1 of the lock groove 400a. At this time, the operation unit 400 is in the detachment position, and the connecting portion 21c is in the released state (see FIG. 10). Therefore, the first to ninth connecting portions (21c11 to 21c33) are released from the fixation of the first to ninth driving wires (W11 to W33), respectively. Also, as shown in FIG. 17(a), the button protrusion 41a and the lock protrusion 26a face each other.

[0097] When the operating unit 400 is rotated in the locking direction R1 while it is in the detached position, the inclined surface 41a1 of the button protrusion 41a comes into contact with the inclined surface 26a1 of the locking protrusion 26a. The button 41 moves toward the inside of the operating unit 400 (toward the rotation shaft 400r) against the biasing force of the button spring 42. Then, the button protrusion 41a moves over the locking protrusion 26a, and the operating unit 400 moves to the unlocked position (see FIG. 17(b)). At this time, the connecting portion 21c is in a released state (see FIG. 11). Therefore, the first to ninth connecting portions (21c11 to 21c33) are no longer fixed to the first to ninth driving wires (W11 to W33), respectively.

[0098] When the operating unit 400 is rotated in the locking direction R1 while it is in the release position, the operating unit 400 moves to the fixed position. As shown in FIG. 17(c), when the operating unit 400 is in the fixed position, the positioning portion 400a2 of the lock groove 400a is located at a position corresponding to the lock shaft 26. The operating unit 400 is biased by the operating unit biasing spring 43 in the direction Dh toward the proximal end cover 16. As a result, the positioning portion 400a2 engages with the lock shaft 26. In the process of the operation portion 400 moving from the release position to the fixed position, the held portion Wa of the drive wire W is fixed to the connecting portion 21c as described above.

[0099] When the operation unit is in the fixed position, the connecting portion 21c is in a locked state (see FIG. 14). Therefore, the first to ninth drive wires (W11 to W33) are fixed to the first to ninth connecting portions (21c11 to 21c33), respectively. In this state, the drive force from the wire driving unit 300 can be transmitted to the bending drive unit 13. In other words, the drive force from each of the first to ninth drive sources (M11 to M33) can be transmitted to each of the first to ninth drive wires (W11 to W33) via the first to ninth connecting portions (21c11 to 21c33).

[0100] When the operating section 400 is in the release position, a wall 400a3 forming the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd of the catheter unit 100. When the operating section 400 is in the fixed position, the positioning section 400a2 is located upstream of the lock shaft 26 in the removal direction Dd. As a result, when the operating section 400 is in the release position or the fixed position, removal of the catheter unit 100 from the base unit 200 is restricted. On the other hand, when the operating section 400 is in the removal position, an entrance 400a1 of the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd. As a result, removal of the catheter unit 100 from the base unit 200 is permitted.

[0101] When the operating unit 400 is rotated in the release direction R2 while it is in the fixed position, the operating unit 400 is positioned at the release position. In the process of the operating unit 400 moving from the fixed position to the release position, the held portion Wa of the driving wire W is released from the connecting portion 21c as described above.

[0102] When the operating unit 400 is positioned at the release position, the regulated surface 41a2 of the button protrusion 41a abuts against the regulated surface 26a2 of the locking protrusion 26 (see FIG. 17(b)). In this state, rotation of the operating unit 400 in the release direction R2 is restricted. In addition, removal of the catheter unit 100 from the base unit 200 is restricted.

[0103] When the operating unit 400 is in the release position, the user can press the button 41 toward the inside of the operating unit 400, causing the regulated surface 41a2 to separate from the regulating surface 26a2 and the button protrusion 41a to climb over the lock protrusion 26a. As a result, the operating unit 400 is allowed to rotate in the release direction R2, and the operating unit 400 can be moved from the release position to the detachment position.

[0104] When the operating part 400 is located at the detachment position, the connecting part 21c is in a released state. In this embodiment, there is one locking protrusion 26a and one button 41. However, the medical device 1 may have a plurality of locking protrusions 26a and buttons 41.

[0105] <Layout of driving force transmission mechanism> The layout of the driving force transmission mechanism that transmits the driving force of the driving source M to the driving wire W will be described below. Fig. 18 is a cross-sectional view illustrating the layout of the driving force transmission mechanism. Fig. 18 is a cross-sectional view taken along the rotation axis 400r when the catheter unit 100 and base unit 200 are connected. Fig. 18 shows one of the first to ninth driving wires (W11 to W33) of the same shape, as well as a wire driving unit 300 for driving that one driving wire W, a connecting device 21, and a portion of the bending driving unit 13. Fig. 19 is an enlarged cross-sectional view illustrating the layout of the driving force transmission mechanism, with (a) being an enlarged view of the catheter unit 100 side and (b) being an enlarged view of the base unit 200 side.

[0106] In the layout of the driving force transmission mechanism of this embodiment, the held portion W at the end of the drive wire W, the tractor support shaft 21cs, and the output shaft Ma of the drive source M are arranged as follows: The held portion W, the tractor support shaft 21cs, and the output shaft Ma each extend in the axial direction of the pitch circle, i.e., are arranged parallel to one another. The tractor support shaft 21cs is arranged at a position offset radially outward from the held portion W of the pitch circle. The output shaft Ma is also arranged at a position offset radially outward from the tractor support shaft 21cs. That is, there is a pitch circle (called the first pitch circle) on which the drive wire W is provided, and a pitch circle (called the second pitch circle) which is offset outward from the first pitch circle and on which the output shaft Ma is provided. The tractor support shaft 21cs is provided along a pitch circle (called the third pitch circle) which is offset outward from the first pitch circle and offset inward from the second pitch circle. In this manner, in the direction from the catheter 11 toward the drive source M, the tractor support shaft 21cs is offset outward relative to the held portion W, and the output shaft Ma is offset outward relative to the tractor support shaft 21cs.

[0107] One end of the drive wire W is fixed to one of the first to third guide rings (J1 to J3) described with reference to Figure 3(b). The catheter 11 is intended to be inserted into the patient's body, and the multiple drive wires W at the distal end of the catheter are arranged in a layout that minimizes the diameter of the first pitch circle along which they are arranged, allowing for more detailed access. On the other hand, on the base unit 200 side, the diameter of the first pitch circle is increased due to size restrictions on the components that make up the connecting portion 21c that connects the drive wire W to the drive source M. Therefore, a bending guide 45 that guides the drive wire W so that the first pitch circle is increased is installed inside the proximal end cover 16 that covers a part of the drive wire W.

[0108] The drive wire W guided by the bending guide 45 has a held portion Wa, which is the other end not fixed by the guide rings (J1 to J3), fixed to the connecting base 21cb and the leaf spring 21ch, so that the drive wire W is connected to one end of the tractor support shaft 21cs, which is an intermediate support shaft. In this embodiment, the connecting base 21cb and the leaf spring 21ch correspond to a first connecting member that connects the end of the drive wire W to the tractor support shaft 21cs. Furthermore, one end of the tractor support shaft 21cs is connected to the drive wire W, and the other end is connected to the output shaft Ma of the drive source M via the tractor 21ct. In this embodiment, the tractor 21ct corresponds to a second connecting member that connects the tractor support shaft 21cs and the output shaft Ma and converts the rotation of the output shaft Ma into linear motion to move the tractor support shaft 21cs linearly.

[0109] Here, the action of the driving force generated by the driving source M on the driving wire W will be described. As shown in Fig. 19(a), the bending guide 45 is a fixed pipe-shaped member, and the driving wire W is configured to be movable inside it. Inside the bending guide 45, the driving wire W is guided so as to be bent at two locations: the first bending portion 45c1 on the catheter 11 side and the second bending portion 45c2 on the driving source M side. Let the axial distance of the pitch circle between the first bending portion 45c1 and the second bending portion 45c2 be Lax. Receiving power from the driving source M, the driving wire W moves in the Dc direction. Among the Dc directions, the direction in which the driving wire W advances is called the Dcf direction, and the direction in which it retreats is called the Dcb direction.

[0110] In this state, when the driving wire W is moved in the Dcf direction, a moment occurs with respect to the pushing force F generated by the driving source M, with the first bending portion 45c1 as the fulcrum and the difference Lr in the radii before and after the change of the pitch circle formed by the driving wire W before and after bending as the length of the arm. Due to this moment, a force acts to bend the driving wire W more. Also, when the driving wire W is moved in the Dcf direction or the Dcb direction, since the posture of the driving wire W is restricted, frictional forces in the direction of hindering the movement of the driving wire W are generated by actively contacting the surroundings of the first bending portion 45c1 and the second bending portion 45c2.

[0111] The magnitudes of these forces are in a relationship where they increase as the distance Lr increases and as the distance Lax decreases. This becomes a loss in the transmission of the driving force to the driving wire W and a factor that inhibits the smooth movement of the driving wire W. Therefore, when guiding the driving wire W to the outside in the radial direction of the pitch circle, it is desirable that the distance Lr be minimized and the distance Lax be maximized. However, increasing the distance Lax is accompanied by an extension of the driving wire W and an increase in the size of the device, which may cause other adverse effects. Therefore, it may be set so as to satisfy at least Lr < Lax.

[0112] Also, as shown in Fig. 19(b), the tractor support shaft 21cs is in a positional relationship separated by a distance Lt in the radial direction of the pitch circle from the output shaft Ma of the driving source M via the tractor 21ct. As described above, the tractor 21ct converts the rotational motion transmitted from the output shaft Ma of the drive source M into linear motion of the tractor support shaft 21cs via the threaded portion St. The tractor support shaft 21cs is constrained by the first bearing B1 and the second bearing B2 from moving in any direction other than the direction Dc along which the drive wire W moves. The tractor 21ct, which moves integrally with the tractor support shaft 21cs, is subjected to a moment Mt, which acts around the fixed portion ft of the tractor support shaft 21cs as a fulcrum, due to the linear force generated by the rotation of the output shaft Ma via the threaded portion St. The magnitude of this moment Mt is proportional to the distance Lt; the larger the moment Mt, the greater the radial load exerted on the bearings B1 and B2 supporting the tractor support shaft 21cs. This increases the sliding resistance during thrust movement of the tractor support shaft 21cs, potentially hindering the smooth movement of the drive wire W. Furthermore, from the viewpoints of wear of the bearings B1 and B2, an increase in the load torque of the drive source M, and wear due to frictional force generated in the threaded portion St, the disadvantage of poor durability is likely to occur. Therefore, it is desirable to set the distance Lt as small as possible.

[0113] 19(b), in the medical device 1 of this embodiment, the area for accommodating the motor main body Mb is the largest in cross-sectional area perpendicular to the extension direction of the catheter 11. Generally, the output torque required of the motor in accordance with the specifications of the device is a constraint, and the minimum size of the motor often determines the overall size of the device. This embodiment is no exception, and the position of the output shaft Ma of the motor main body Mb is determined by layout constraints on the motor main body Mb.

[0114] In this embodiment, the connecting portion 21c and the driving source M are supported by the frame so as to be disposed at predetermined positions on the circumference of a cross section perpendicular to the extension direction of the catheter 11. Specifically, the motor body Mb of the driving source M is supported by the motor frame 200b, and the connecting portion 21c is supported by the first bearing frame 200c, the second bearing frame 200d, and the third bearing frame 200e. Here, the motor frame 200b has a cylindrical portion 200bs, and the third bearing frame 200e, which is located closest to the catheter 11 among the frames 200b to 200e, is connected to the outer periphery of the end of the cylindrical portion 200bs. The cylindrical portion 200bs is arranged so as to pass through the space at the center of the circle that is created when the coupling device 21 is laid out circumferentially in a cross section perpendicular to the extension direction of the catheter 11. In this way, the motor frame 200b and the third bearing frame 200e are connected via the cylindrical portion 200bs, which is a support coupling portion arranged inside the coupling portion 21c. In addition, the first bearing frame 200c and the second bearing frame 200d are supported by the motor frame 200b. In this way, the first bearing frame 200c, the second bearing frame 200d, and the third bearing frame 200e are positioned relative to the motor frame 200b. The catheter unit 100 also has a key shaft 15, which is a positioning shaft. The key shaft 15 is disposed at the center of a circle in a cross section perpendicular to the extension direction of the catheter 11. In this manner, the key shaft 15 is disposed inside the connecting portion 21c, and is inserted into and connected to the cylindrical portion 200bs of the motor frame 200b. As described above, by arranging the cylindrical portion 200bs of the motor frame 200b inside the connecting portion 21c, it is possible to ensure the degree of freedom in arranging the drive force transmission mechanism while suppressing an increase in the size of the entire device. Note that in this embodiment, the motor frame 200b corresponds to the first support member of the present invention, and the third bearing frame 200e corresponds to the second support member of the present invention.

[0115] As described above, there is a first pitch circle on which the drive wire W is mounted, and a second pitch circle on which the output shaft Ma is mounted, which is offset outward from the first pitch circle. The tractor support shaft 21cs is mounted along a third pitch circle, which is offset outward from the first pitch circle and inward from the second pitch circle. This layout of the drive force transmission mechanism reduces the center distance Lt between the output shaft Ma and the tractor support shaft 21cs, thereby reducing the moment Mt applied to the tractor 21ct during drive. This reduces the resistance acting on the tractor support shaft 21cs and reduces wear between the output shaft Ma and the threaded portion St of the tractor 21ct. Furthermore, the difference Lr between the radii of the drive wire W before and after bending between the pitch circles can be reduced, thereby reducing the moment that tends to bend the drive wire W during drive and suppressing the generation of frictional forces that hinder the movement of the drive wire W. This reduces loss of drive force transmission to the drive wire W. Therefore, it is possible to provide a continuum robot that has improved durability and realizes smooth movement of the drive wire W.

[0116] In this embodiment, the catheter unit 100 is configured to be detachable from the base unit 200. Specifically, the catheter unit 100 is configured as described with reference to FIGS. 15 to 17 so that the user can easily replace the catheter unit 100. As described above, the leaf spring 21ch, which serves as the holding portion, and the held portion W are configured to be detachable by being switched between a fixed state and an unlocked state. The fixed state and the unlocked state are switched by an interlocking portion (joint 28, internal gear 29) that is interlocked with the movement of the operating portion 400. In this configuration, the interlocking portion is disposed outside a predetermined portion of the connecting portion 21c, which in this embodiment is disposed outside a portion closer to the catheter 11 than the output shaft Ma (see FIG. 8(a)). This allows the interlocking portion to be disposed by utilizing the space outside the first connecting member and the tractor support shaft 21cs, which are disposed at a position offset radially inward of the pitch circle relative to the output shaft Ma, thereby preventing the device from becoming larger in size. Furthermore, the interlocking portion can be disposed close to the operating portion 400, and the force required to operate the operating portion 400 can be reduced.

[0117] The effects of the present invention can be enjoyed regardless of whether the catheter unit 100 can be attached or detached to the base unit 200. That is, even in a configuration that does not involve the configuration described using Figures 15 to 17 and does not require replacement of the catheter 11 or does not require simple replacement by the user, by incorporating the layout of the driving force transmission mechanism shown in Figures 18 and 19, it is possible to improve durability and achieve smooth movement of the driving wire W.

[0118] Although the present invention has been described above with reference to the embodiments, the above embodiments are merely illustrative of specific examples of how the present invention can be implemented, and the technical scope of the present invention should not be construed as being limited by these embodiments. In other words, the present invention can be implemented in various forms without departing from its technical concept or main features. [Explanation of symbols]

[0119] 100: catheter unit, 200: base unit, 11: catheter, 21: connecting device, 21c: connecting portion, 21cb: connecting base, 21ch: leaf spring, 21cs: tractor support shaft, 21ct: tractor, 45: bending guide, 45c1, 45c2: bending portion, 100: catheter unit, 200: base unit, 200b: motor frame, 200c to 200e: bearing frame, 200bs: cylindrical portion, 400: operating portion, M: drive source (motor), Ma: output shaft, W: drive wire, Wa: held portion

Claims

1. A continuum robot comprising: a bendable body having a plurality of linear members arranged along a first pitch circle; and a plurality of motors each having a plurality of output shafts arranged along a second pitch circle offset outward from the first pitch circle, the motors driving the plurality of linear members to bend the bendable body, a plurality of intermediate support shafts provided along a third pitch circle that is obtained by offsetting the first pitch circle outward and the second pitch circle inward; a plurality of first connecting members that respectively connect the ends of the plurality of linear members to the plurality of intermediate support shafts; a plurality of second connection members that connect the plurality of intermediate support shafts to the plurality of output shafts, respectively, and convert rotation of the output shafts into linear motion to linearly move the intermediate support shafts.

2. a first support member that supports the motor; a second support member that supports a coupling portion including the intermediate support shaft, the first connecting member, and the second connecting member, 2. The continuous body robot according to claim 1, wherein the first support member and the second support member are connected via a support portion connecting portion disposed inside the connecting portion.

3. a positioning shaft disposed inside the connecting portion; 3. The continuum robot according to claim 2, wherein the positioning shaft is connected to the support connection portion.

4. the holding portion of the first connecting member and the held portion of the linear member are configured to be detachable by being switched between a fixed state and a released state, a linking unit that links with the movement of the operation unit to switch between the fixed state and the unlocked state; 4. The continuous body robot according to claim 1, wherein the interlocking portion is arranged outside a predetermined portion of a connecting portion including the intermediate support shaft, the first connecting member, and the second connecting member.

5. 5. The continuum robot according to claim 4, wherein the operating part is configured to be rotatable about a rotation axis extending in a direction in which the held part is attached to and detached from the holding part.

6. a first bending portion and a second bending portion that bend the linear member so as to change the diameter of the first pitch circle; 6. The continuum robot according to claim 1, wherein a difference in radius before and after the change in pitch circle is smaller than an axial distance of the pitch circle between the first bent portion and the second bent portion.

7. 7. The continuous body robot according to claim 6, further comprising a pipe-shaped bending guide including the first bending portion and the second bending portion, and configured so that the linear member can move inside the bending guide.

Images